version: 66.06
glider: 148
mission: 10
dive: 738
start: 10 27 111 3 51 51
data:
$ID,148
$MISSION,10
$DIVE,738
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,133
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-892726.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,400
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,380
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,033544,2144.126,-15811.502,9,1.3,9,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.1
$GPS2,035056,2144.065,-15811.577,13,1.6,13,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,7mile
$TGT_LATLONG,2143.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,-0.234
$KALMAN_X,-137511.6,-301.8,-622.6,61983.6,399.9
$KALMAN_Y,-134985.9,-158.3,-415.2,-19848.8,762.1
$MHEAD_RNG_PITCHd_Wd,165.6,2209,-19.8,-10.025
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.7,0.0,0.0,0,123,0.00,0.00,-101.43,0.000,2,0.000,0.000,411,1706,3135,0,0,0,0,0,0
$GC,127,-1.38,-116.8,3.4,-6.5,19,150,11.73,2.58,-5.78,0.000,4,0.146,0.050,2669,163,3435,0,0,0,0,0,0
$GC,245,-1.23,-116.8,27.6,-14.8,42,252,0.17,2.47,0.00,0.000,6,0.071,0.018,2708,1752,3435,0,0,0,0,0,0
$GC,521,-1.12,-116.8,64.9,-13.2,68,526,0.12,2.42,0.00,0.000,4,0.113,0.024,2735,3296,3435,0,0,0,0,0,0
$GC,551,-1.12,-116.8,69.5,-12.4,70,556,0.00,2.53,0.00,0.000,6,0.000,0.023,2735,1705,3435,0,0,0,0,0,0
$GC,816,-1.23,-116.8,90.7,-7.0,94,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1705,3435,0,0,0,0,0,0
$GC,1079,-1.38,-116.8,110.0,-7.6,119,1081,0.22,0.00,0.00,0.000,6,0.038,0.000,2635,1705,3435,0,0,0,0,0,0
$GC,1336,-1.24,-116.8,137.5,-11.2,143,1341,0.30,2.47,0.00,0.000,4,0.083,0.038,2705,170,3435,0,0,0,0,0,0
$GC,1395,-1.36,-116.8,142.7,-8.1,148,1403,0.35,2.40,0.00,0.000,6,0.008,0.017,2649,1732,3434,1,0,0,0,0,0
$GC,1660,-1.27,-116.8,170.0,-10.8,173,1665,0.22,2.40,0.00,0.000,4,0.084,0.022,2701,3277,3434,0,0,0,0,0,0
$GC,1690,-1.38,-116.8,173.4,-9.0,175,1696,0.00,2.50,0.00,0.000,6,0.000,0.023,2701,1706,3434,0,0,0,0,0,0
$GC,1955,-1.47,-116.8,195.4,-9.2,200,1960,0.17,2.50,0.00,0.000,4,0.048,0.025,2619,3276,3433,0,0,0,0,0,0
$GC,1998,-1.38,-116.8,200.3,-10.5,204,2004,0.28,2.47,0.00,0.000,6,0.080,0.025,2681,1720,3433,0,0,0,0,0,0
$GC,2288,-1.38,-116.8,227.9,-9.7,211,2292,0.00,2.47,0.00,0.000,4,0.000,0.025,2681,3275,3432,0,0,0,0,0,0
$GC,2317,-1.48,-116.8,230.7,-8.7,211,2322,0.10,2.47,0.00,0.000,6,0.075,0.023,2617,1725,3432,0,0,0,0,0,0
$GC,2574,-1.33,-116.8,255.7,-9.9,218,2579,0.30,2.55,0.00,0.000,4,0.082,0.041,2687,169,3430,0,0,0,0,0,0
$GC,2611,-1.43,-116.8,259.0,-8.6,218,2615,0.00,2.38,0.00,0.000,6,0.000,0.018,2687,1726,3430,0,0,0,0,0,0
$GC,2862,-1.51,-116.8,279.4,-8.6,224,2867,0.15,2.47,0.00,0.000,4,0.054,0.028,2612,3289,3429,0,0,0,0,0,0
$GC,2887,-1.44,-116.8,282.2,-11.3,224,2892,0.25,2.50,0.00,0.000,6,0.081,0.025,2669,1717,3429,0,0,0,0,0,0
$GC,3148,-1.44,-116.8,303.9,-8.1,231,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1717,3427,0,0,0,0,0,0
$GC,3391,-1.44,-116.8,323.5,-8.0,237,3395,0.00,2.50,0.00,0.000,4,0.000,0.029,2669,3281,3425,0,0,0,0,0,0
$GC,3421,-1.52,-116.8,325.9,-8.0,237,3425,0.00,2.50,0.00,0.000,6,0.000,0.026,2669,1729,3425,0,0,0,0,0,0
$GC,3679,-1.52,-116.8,344.8,-7.2,244,3683,0.00,2.58,0.00,0.000,4,0.000,0.051,2673,171,3423,0,0,0,0,0,0
$GC,3739,-1.60,-116.8,349.7,-8.5,245,3749,2.20,2.40,0.00,0.000,6,0.004,0.021,2598,1707,3422,7,0,0,0,0,0
$GC,4015,-1.43,-116.8,378.2,-10.8,252,4017,0.30,0.00,0.00,0.000,6,0.082,0.000,2666,1709,3421,0,0,0,0,0,0
$GC,4262,-1.43,-116.8,399.6,-8.6,258,4267,0.00,2.58,0.00,0.000,4,0.000,0.055,2666,186,3419,0,0,0,0,0,0
$STATE,4270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4270,begin apogee
$GC,4281,-0.31,0.0,400.8,7.8,258,4376,1.02,0.00,91.40,0.748,6,0.067,0.000,2905,1705,2955,0,0,0,0,0,0
$STATE,4377,end apogee,CONTROL_FINISHED_OK
$STATE,4377,begin climb
$GC,4380,1.38,116.8,402.7,0.0,260,4488,1.52,0.00,97.62,0.736,6,0.031,0.000,3295,1706,2477,0,0,0,0,0,0
$GC,4752,1.15,145.0,381.4,8.4,269,4784,0.28,2.65,24.50,0.702,4,0.107,0.057,3234,183,2363,0,0,0,0,0,0
$GC,4923,1.00,154.4,365.9,9.5,272,4953,12.23,2.40,8.85,0.621,6,0.006,0.024,3200,1692,2325,40,0,0,0,0,0
$GC,5224,1.07,207.7,344.5,6.9,280,5273,0.00,0.00,47.00,0.709,6,0.000,0.000,3200,1692,2108,0,0,0,0,0,0
$GC,5507,1.07,208.6,317.8,10.0,287,5511,0.00,2.60,0.00,0.000,4,0.000,0.054,3199,181,2100,0,0,0,0,0,0
$GC,5521,1.07,208.6,316.0,10.4,287,5525,0.00,2.40,0.00,0.000,6,0.000,0.023,3199,1696,2099,0,0,0,0,0,0
$GC,5790,1.07,212.1,289.3,9.8,294,5795,0.00,2.65,0.00,0.000,4,0.000,0.048,3200,3269,2097,0,0,0,0,0,0
$GC,5874,1.17,212.1,280.8,10.3,295,5880,0.15,2.58,0.00,0.000,6,0.058,0.031,3257,1695,2095,0,0,0,0,0,0
$GC,6126,1.11,224.4,257.2,9.3,302,6142,0.17,0.00,13.62,0.622,6,0.103,0.000,3220,1694,2039,0,0,0,0,0,0
$GC,6370,1.14,243.1,236.0,8.9,308,6396,0.00,2.70,17.73,0.623,4,0.000,0.037,3220,3266,1962,0,0,0,0,0,0
$GC,6438,1.25,243.1,229.2,10.7,309,6444,0.12,2.60,0.00,0.000,6,0.066,0.029,3270,1691,1959,0,0,0,0,0,0
$GC,6704,1.25,243.3,201.7,10.0,316,6709,0.00,2.60,0.00,0.000,4,0.000,0.035,3269,3273,1956,0,0,0,0,0,0
$GC,6736,1.25,243.3,198.2,10.6,316,6741,0.00,2.58,0.00,0.000,6,0.000,0.030,3269,1692,1955,0,0,0,0,0,0
$GC,7001,1.26,253.3,173.8,9.4,340,7015,0.00,2.62,9.15,0.533,4,0.000,0.035,3269,3278,1922,0,0,0,0,0,0
$GC,7123,1.26,253.3,161.7,11.0,352,7128,0.00,2.58,0.00,0.000,6,0.000,0.029,3269,1707,1918,0,0,0,0,0,0
$GC,7391,1.27,263.0,136.9,9.5,377,7412,0.00,2.62,9.73,0.509,4,0.000,0.048,3269,176,1880,0,0,0,0,0,0
$GC,7444,1.27,263.0,131.0,11.6,382,7448,0.00,2.45,0.00,0.000,6,0.000,0.023,3270,1713,1881,0,0,0,0,0,0
$GC,7708,1.29,279.2,106.8,9.1,406,7730,0.00,2.60,14.98,0.510,4,0.000,0.035,3270,3285,1815,0,0,0,0,0,0
$GC,7879,1.42,305.2,92.0,8.5,424,7908,0.00,2.58,22.95,0.509,6,0.000,0.027,3269,1703,1710,0,0,0,0,0,0
$GC,8164,1.55,329.7,66.8,8.6,451,8196,0.20,2.62,22.15,0.483,4,0.047,0.031,3348,3270,1609,0,0,0,0,0,0
$GC,8277,1.48,329.7,53.3,12.7,462,8284,0.17,2.55,0.00,0.000,6,0.083,0.027,3305,1719,1605,0,0,0,0,0,0
$GC,8540,1.48,329.7,22.1,13.3,492,8547,0.00,2.55,0.00,0.000,4,0.000,0.030,3305,3277,1605,0,0,0,0,0,0
$GC,8585,1.48,329.7,16.8,12.1,501,8591,0.00,2.53,0.00,0.000,6,0.000,0.025,3305,1725,1604,0,0,0,0,0,0
$STATE,8685,end climb,SURFACE_DEPTH_REACHED
$STATE,8685,begin surface coast
$FINISH,0.8,1.023199
$STATE,8726,end surface coast,CONTROL_FINISHED_OK
$STATE,8726,begin surface
$SM_CCo,8748,46.92,0.439,0,0,1323,400.08
$SM_GC,1.67,0.00,0.00,46.92,0.000,0.000,0.439,415,1721,1323,-11.80,0.03,400.08
$IRIDIUM_FIX,2138.81,-15809.76,200101,030311
$TT8_MAMPS,0.026845
$HUMID,67.32
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.5,71.454
$10V_AH,9.8,78.440
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,44.425,106.025,379.675,46.925,0.000,0.000,0.000,0.000,1.250,0.000,14.804,1028.463,5484.049,485.552,1354.249,521.634,33.376,1238.177,0.000,1561.558,0.000,11.196,0.000
$DEVICE_MAMPS,146.497,56.758,747.825,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.093,451.246,571.336,677.051,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,41622,525
$CAP_FILE_SIZE,139389,0
$CFSIZE,260165632,94797824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,0,0,0
$GPS,271011,061936,2143.245,-15811.482,25,1.2,26,9.9